After a week of headline-making antics on her Australian Rebel Heart tour, Madonna shocked audiences when she pulled down a 17-year-old fan's corset top onstage at her second Brisbane show on Thursday night.

The 57-year-old told the audience the young fan was "the kind of girl you just want to slap on the ass and pull", before accidentally exposing the fan's breast to thousands of fans, as seen in the footage above.

"Oh s---. Oh sorry, sexual harassment," Madonna said. "You can do the same to me, good luck."

An onlooker told TheFIX Madonna "seemed more embarrassed about the accident than [the fan] Josephine was".

Josephine has since told the Courier Mail that she wasn't ashamed about the incident, saying that "only I get to decide if I'm humiliated or not".

"Why would people assume I am humiliated by my own breast, nipple or body?" she said. "I didn't realise my boob was such a big deal - it was nothing to me."

The fan shrugged off the onstage slip, happily telling Madonna she was from the Gold Coast, "where bogans live".

Madonna asked what a "bogan" was, and after being enlightened, told the crowd she's "also a ber-gan" from Detroit, Michigan.

The Queen of Pop arrived around 25 minutes late to her show, following an angry response from some fans the night before when she arrived more than two hours late at the Brisbane Entertainment Centre.

Madonna has touched down in Sydney for her final two Australian shows on the weekend.